/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RW_MODELS_JACOBIANCALCULATOR_HPP
#define RW_MODELS_JACOBIANCALCULATOR_HPP

#include <rw/core/Ptr.hpp>
#include <rw/math/Jacobian.hpp>

namespace rw { namespace kinematics {
    class State;
}}    // namespace rw::kinematics

namespace rw { namespace models {

    /**
     * @brief JacobianCalculator provides an interface for obtaining a Jacobian
     *
     */
    class JacobianCalculator
    {
      public:
        //! smart pointer type
        typedef rw::core::Ptr< JacobianCalculator > Ptr;

        /**
         * @brief Destructor
         */
        virtual ~JacobianCalculator ();

        /**
         * @brief Returns the Jacobian associated to \b state
         * @param state [in] State for which to calculate the Jacobian
         * @return Jacobian for \b state
         */
        virtual rw::math::Jacobian get (const rw::kinematics::State& state) const = 0;

        /**
         * @brief Returns the Jacobian calculated based on the content of \b fk
         * @param fk [in] Forward kinematics table based on which to calculate the Jacobian
         * @return Jacobian for \b fk
         */
        // virtual rw::math::Jacobian get(const rw::kinematics::FKTable& fk) const = 0;
    };

}}    // namespace rw::models

#endif    // end include guard
